具有狀態延遲與輸入延遲的不確定線性系統之 H∞積分滑動模式控制器設計

DESIGN OF THE H∞ INTEGRAL SLIDING MODE CONTROLLER FOR UNCERTAIN LINEAR SYSTEMS WITH STATE AND INPUT DELAYS

張得倫(Te-Lun Chang)

指導教授 ： 龔宗鈞

大同大學/電機資訊學院/電機工程學系所/碩士(2010年)

摘要

在本論文中，針對狀態延遲與輸入延遲的多輸入多輸出線性非時變不確定線性系統提出 積分滑動模式控制器。由於輸入延遲的問題會造成系統的不穩定，為了處理這個問題，我們使用狀態轉換的方法來處理輸入延遲。接著，本論文設計 積分滑動模式控制器去達成我們的控制目標，並根據李亞普諾夫(Lyapunov)穩定性定理，求得系統為漸近穩定的線性矩陣不等式條件。最後，本論文提出數值模擬例子來說明所提出控制器的有效性。

關鍵字

線性矩陣不等式 ； 時間延遲 ； 積分滑動模式控制 ； H∞ 控制

並列摘要

In this thesis, the design of integral sliding mode controller for continuous-time multiple-input multiple-output (MIMO) linear time-invariant (LTI) polytopic dynamic system with state and input delays is investigated. First, the state transformation is applied to eliminate the effect of input delay. Next, we design an integral sliding mode controller to solve the control problem. Based on the Lyapunov stability theorem, we can derive linear matrix inequality (LMI) criterion for the stability of a time-delay system. Finally, a numerical simulation example is given to demonstrate the effectiveness of the proposed control strategy.

並列關鍵字

linear matrix inequality ； time-delay ； Integral sliding-mode control ； H∞ control

參考文獻

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